Sorry for taking so long to get back to you, my other project Egor V.2 is a simplified version of Aldous and it has the source code you need. There is a book called (Arduino Robotics, 2011, Warren et al) and it has the original code that I adapted, it may be useful to you also.

Sorry for taking so long to get back to you, my other project Egor V.2 is a simplified version of Aldous and it has the source code you need. There is a book called (Arduino Robotics, 2011, Warren et al) and it has the original code that I adapted, it may be useful to you also.